1C32h-01h and 1C33h-01h are set.
ESM status after alarming: PreOP
ESC register AL Status Code: 0028h
any one of 00h, 01h and 02h
SyncManager
2/3 setting
abnormal
protection
SM2/3 is set to error value.
SM2/3 incorrect physical address setting (ESC
register: 0810h/0818h), the receiving and
transmitting area overlaps, overlaps with SM2/3,
the starting address is odd, and the starting address
and completion address are outside the range.
SM2/3 length setting (ESC register: 0812h/081A)
and RxPDO, TxPDO is different.
SM2/3 control register (ESC register:
0814h/081Ch) setting is error.
Set other than 100110b to bit5-0
ESM status after alarming: PreOP
ESC register AL Status Code: 001Dh/001Eh
Set correct SyncManager2/3
according to ESI file
description
TxPDO
distribution
abnormal
protection
TxPDO mapping data size is over 24 bytes
ESM status after alarming: PreOP
ESC register AL Status Code: 0024h
Make sure the TxPDO
mapping data size is in the
range of 24 bytes
RxPDO
distribution
abnormal
protection
RxPDO mapping data size is over 24 bytes
ESM status after alarming: PreOP
ESC register AL Status Code: 0025h
Make sure the RxPDO
mapping data size is in the
range of 24 bytes
Control mode
setting abnormal
protection
When the set value of 6060h is 0 and the set value
of 6061h is 0, the PDS state is converted to
"operation enabled".
6060h no corresponding control mode is set.
When it is full closed loop control, 6060h is the
mode other than position control and to be set.
ESM status after alarming: stop at present ESM
state
ESC register AL Status Code: 0000h
Confirm the setting value of
6060h
ESM requires
abnormal
protection
during operation
When the PDS status is "operation enabled" or
"quick stop active", other ESM status conversion
commands are received
ESM status after alarming: based on the state
transformation requirements from the host
computer
ESC register AL Status Code: 0000h
Confirm the state
transformation requirements
from the host computer
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